@article{552143fce1474664883e5a721ceb3fc5,
title = "Theoretical approach for designing the rehabilitation robot controller",
abstract = "Robot rehabilitation is now recognized as an important method for the efficient recovery. In European Project FP7 BioMot, we have discussed the potential of the robot rehabilitation and proposed the suitable process for it. In this paper, we describe the proposed rehabilitation process and create the theoretical basis for the robot rehabilitation through designing the control system and the patient model. To design the patient model, we describe the source of paralysis and motion controller separately and define the recovery function from the paralysis. In the theoretical analysis of the control system, we show that the robot motions are first adapted to the patient abnormal motions and gradually drive the patient motions to the better ones by the motion support. The singular perturbation analysis proves that the stabilities of the two different process, adaptation to the patient motions and the motion support to the better ones, as a slow motion subsystem and a fast motion subsystem, respectively. The simulation results show that the proposed control system can drive the patients to the better state depending on the patient conditions such as recovery speed and recovery potential. The proposed system can be tuned to fit to the variety of the real patient conditions when we apply it to the real applications.",
keywords = "Robot rehabilitation strategy, control method, singular perturbation, tacit learning, theoretical approach",
author = "Shotaro Okajima and Alnajjar, {Fady S.} and {\'A}lvaro Costa and Guillermo Asin-Prieto and Pons, {Jose L.} and Moreno, {Juan C.} and Yasuhisa Hasegawa and Shingo Shimoda",
note = "Funding Information: Shotaro Okajima received MSc in mechanical Engineering from Mechanical Science and Engineering Department at Nagoya University, Japan (2016). Since 2019, he works as a research associate at Man-Machine Collaboration Research Team, Robotics Project, Baton Zone Program, Science, Technology and Innovation Hub, RIKEN. He received MHS 2018 Best Paper Award in 2018. Funding Information: This study was funded by a grant from the European Commission within its Seventh Framework Programme (IFP7-ICT-2013-10-611695: BioMot – Smart Wearable Robots with Bioinspired Sensory-Motor Skills). Funding Information: Juan C. Moreno is a Scientist at the Neural Rehabilitation Group in Cajal Institute at CSIC in Madrid, Spain. His main research interests include rehabilitation robotics and neuro-prosthetics, and specially the optimization of human-robot interaction approaches in these technologies for the neurological rehabilitation after stroke and spinal cord injury, analysis and synthesis of neural control of human walking and biomechanical simulations. He was the recipient of TR35 Spain 2012 Award by Mas-sachusettsInstituteof Technology{\textquoteright}s journal, TechnologyReview for his work on technology for a more efficient rehabilitation of people with limited mobility. In 2011, he received Princess Infanta Cristina Award by the Spanish Institute for Older People and Social Services in the research, development and innovation category for his work on intelligent gait exoskeletons and orthoses. He is the recipient of the Medal 2015 to Young Scientists {\textquoteleft}Agust{\'i}n de Betancourt y Molina{\textquoteright} y {\textquoteleft}Juan L{\'o}pez de Pe{\~n}alver{\textquoteright} by the Spanish Royal Academy of Engineering. He was the Principal Investigator of the European Project BIOMOT {\textquoteleft}Smart Wearable Robots with Bioinspired Sensory-Motor Skills{\textquoteright} (Grant by FP7-Future and Emerging Technologies), developing innovative methods for automatic control of human-robot interactions in wearable exoskeletons for augmentation and assistance of movement. Dr. Moreno is Founder & Co-Chair of the IEEE/RAS Technical Committee (TC) on Wearable Robotics. He is a Working Group leader in the European Cost Action on Wearable Robots (CA16116). Publisher Copyright: {\textcopyright} 2019, {\textcopyright} 2019 Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan.",
year = "2019",
month = jul,
day = "18",
doi = "10.1080/01691864.2019.1633402",
language = "English",
volume = "33",
pages = "674--686",
journal = "Advanced Robotics",
issn = "0169-1864",
publisher = "Taylor and Francis Ltd.",
number = "14",
}